📄 ex34_dpid.mdl
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Format "short"
Decimation "1"
Floating off
SampleTime "-1"
}
Block {
BlockType Display
Name "Display1"
Ports [1]
Position [340, 220, 430, 250]
FontSize 10
Format "short"
Decimation "1"
Floating off
SampleTime "-1"
}
Block {
BlockType Gain
Name "Gain2"
Position [50, 177, 90, 213]
Gain "1"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [320, 66, 325, 104]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [250, 179, 275, 206]
Inputs "2"
Multiplication "Element-wise(.*)"
SaturateOnIntegerOverflow on
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator"
Position [105, 247, 135, 278]
Operator ">="
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [340, 69, 370, 101]
Floating off
Location [6, 60, 196, 207]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "4"
YMin "0"
YMax "2"
SaveToWorkspace on
SaveName "IO"
DataFormat "Array"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Step
Name "Step"
Position [20, 70, 50, 100]
Time "0.2"
Before "0"
After "1"
SampleTime "0"
VectorParams1D on
}
Block {
BlockType Stop
Name "Stop Simulation"
Position [235, 247, 270, 283]
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [80, 75, 100, 95]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [155, 185, 175, 205]
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [125, 12, 145, 38]
VariableName "t"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [190, 26, 210, 44]
VariableName "in"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [345, 121, 365, 139]
VariableName "y"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [230, 67, 290, 103]
Numerator "[K]"
Denominator "[1 a1 a2]"
Realization "auto"
AbsoluteTolerance "auto"
}
Block {
BlockType UnitDelay
Name "Unit Delay"
Position [180, 207, 205, 243]
Orientation "left"
FontSize 10
X0 "0"
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [215, 121, 250, 159]
Orientation "left"
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold1"
Position [60, 6, 95, 44]
SampleTime "Ts"
}
Block {
BlockType Outport
Name "Out1"
Position [155, 148, 185, 162]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Out2"
Position [280, 153, 310, 167]
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Out3"
Position [335, 258, 365, 272]
Port "3"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Out4"
Position [335, 283, 365, 297]
Port "4"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Zero-Order\nHold1"
DstPort 1
}
Line {
SrcBlock "Step"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "Out1"
DstPort 1
}
Branch {
Points [0, -30; 100, 0]
Branch {
Points [145, 0]
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, -20]
DstBlock "To Workspace1"
DstPort 1
}
}
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
Points [0, 0; 0, 10]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 35]
Branch {
DstBlock "To Workspace2"
DstPort 1
}
Branch {
Points [0, 10; -30, 0]
Branch {
DstBlock "Zero-Order\nHold"
DstPort 1
}
Branch {
DstBlock "Out2"
DstPort 1
}
}
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Digital PID\ncontroller"
SrcPort 1
Points [15, 0]
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Digital PID\ncontroller"
DstPort 1
}
Branch {
Points [0, 35; -75, 0]
DstBlock "Gain2"
DstPort 1
}
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
Points [-120, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [40, 0; 0, 5]
Branch {
DstBlock "Unit Delay"
DstPort 1
}
Branch {
DstBlock "Product"
DstPort 2
}
}
Line {
SrcBlock "Unit Delay"
SrcPort 1
Points [-10, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Abs"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Abs"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Display"
DstPort 1
}
Branch {
Points [0, 40; -15, 0]
Branch {
Points [-45, 0; 0, 20; -70, 0; 0, -20; -70, 0]
DstBlock "Relational\nOperator"
DstPort 1
}
Branch {
Points [0, 30]
DstBlock "Out3"
DstPort 1
}
}
}
Line {
SrcBlock "Zero-Order\nHold1"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "To Workspace"
DstPort 1
}
Branch {
Points [0, 140; 85, 0; 0, 20]
DstBlock "Product"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Relational\nOperator"
DstPort 2
}
Branch {
Points [0, 25; 220, 0; 0, -60]
DstBlock "Display1"
DstPort 1
}
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
Points [70, 0]
Branch {
DstBlock "Stop Simulation"
DstPort 1
}
Branch {
Points [0, 25]
DstBlock "Out4"
DstPort 1
}
}
Annotation {
Position [271, 26]
Text "ex34_dpid.mdl, 7-9-2001,\nPenChen Chou\nUse of "
"GA_ex34.m file"
}
Annotation {
Position [237, 241]
Text "\n"
}
Annotation {
Position [410, 36]
Text "[K a1 a2] assignments:\nK: 5--20,\na1: 1.5--6\n"
"a2:1--4"
}
}
}
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